Merge pull request #1693 from UAVenture/ros-automation

Ros automation

.gitignore

@@ -43,3 +43,4 @@ src/modules/uORB/topics/*
 Firmware.zip
 unittests/build
 *.generated.h
+.vagrant

Tools/ros/docker/px4-ros-full/Dockerfile

@@ -0,0 +1,56 @@
+#
+# PX4 full ROS container
+#
+
+FROM ubuntu:14.04.1
+MAINTAINER Andreas Antener <andreas@uaventure.com>
+
+# Install basics
+## Use the "noninteractive" debconf frontend
+ENV DEBIAN_FRONTEND noninteractive
+
+RUN apt-get update \
+	&& apt-get -y install wget git mercurial
+
+# Main ROS Setup
+# Following http://wiki.ros.org/indigo/Installation/Ubuntu
+# Also adding dependencies for gazebo http://gazebosim.org/tutorials?tut=drcsim_install
+
+## add ROS repositories and keys
+## install main ROS pacakges
+RUN echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list \
+	&& wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | apt-key add - \
+	&& apt-get update \
+	&& apt-get -y install ros-indigo-desktop-full
+
+RUN rosdep init \
+	&& rosdep update
+
+## setup environment variables
+RUN echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
+
+## get rosinstall
+RUN apt-get -y install python-rosinstall
+
+## additional dependencies
+RUN apt-get -y install ros-indigo-octomap-msgs ros-indigo-joy
+
+## install drcsim
+RUN echo "deb http://packages.osrfoundation.org/drc/ubuntu trusty main" > /etc/apt/sources.list.d/drc-latest.list \
+	&& wget http://packages.osrfoundation.org/drc.key -O - | apt-key add - \
+	&& apt-get update \
+	&& apt-get -y install drcsim
+
+# Install x11-utils to get xdpyinfo, for X11 display debugging
+# mesa-utils provides glxinfo, handy for understanding the 3D support
+RUN apt-get -y install x11-utils mesa-utils
+
+# Some QT-Apps/Gazebo don't not show controls without this
+ENV QT_X11_NO_MITSHM 1
+
+# FIXME: this doesn't work when building from vagrant
+COPY scripts/setup-workspace.sh /root/scripts/
+RUN chmod +x -R /root/scripts/*
+RUN chown -R root:root /root/scripts/*
+
+CMD ["/usr/bin/xterm"]

Tools/ros/docker/px4-ros-full/README.md

@@ -0,0 +1,10 @@
+# PX4 ROS #
+
+Full desktop ROS container.
+
+**TODO:**
+
+- use https://github.com/phusion/baseimage-docker as base
+- add user, best synced with host
+- configure ssh to work with vagrant out of the box
+

Tools/ros/docker/px4-ros-full/scripts/setup-workspace.sh

@@ -0,0 +1,43 @@
+#!/bin/sh
+#
+# Create workspace at current location and fetch source repositories
+#
+
+WDIR=`pwd`
+WORKSPACE=$WDIR/catkin_ws
+
+# Setup workspace
+mkdir -p $WORKSPACE/src
+cd $WORKSPACE/src
+catkin_init_workspace
+cd $WORKSPACE
+catkin_make
+echo "source $WORKSPACE/devel/setup.bash" >> ~/.bashrc
+
+# PX4 Firmware
+cd $WORKSPACE/src
+git clone https://github.com/PX4/Firmware.git \
+	&& cd Firmware \
+	&& git checkout ros
+
+# euroc simulator
+cd $WORKSPACE/src
+git clone https://github.com/PX4/euroc_simulator.git \
+	&& cd euroc_simulator \
+	&& git checkout px4_nodes
+
+# mav comm
+cd $WORKSPACE/src
+git clone https://github.com/PX4/mav_comm.git
+
+# glog catkin
+cd $WORKSPACE/src
+git clone https://github.com/ethz-asl/glog_catkin.git
+
+# catkin simple
+cd $WORKSPACE/src
+git clone https://github.com/catkin/catkin_simple.git
+
+cd $WORKSPACE
+catkin_make
+

Tools/ros/vagrant/docker-host-base/Vagrantfile

@@ -0,0 +1,56 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+#
+# Vagrantfile to create docker-host-base
+#
+# Maintainer: Andreas Antener <andreas@uaventure.com>
+#
+# After build, do "vagrant package --base docker-host-base" to package,
+# and import as box: "vagrant box add --name uaventure/docker-host-base package.box"
+#
+Vagrant.configure(2) do |config|
+  config.vm.box = "ubuntu/trusty64"
+
+  config.vm.define "docker-host-base"
+
+  config.vm.provider "virtualbox" do |vb|
+    vb.name = "docker-host-base"
+    vb.gui = true
+    vb.memory = "1024"
+  end
+  
+  config.vm.provision "file", source: "config/docker-default", destination: "/home/vagrant/docker-default"
+  config.vm.provision "file", source: "config/xsessionrc", destination: "/home/vagrant/.xsessionrc"
+
+  config.vm.provision "shell", inline: <<-SHELL
+    # Update and install apps
+    export DEBIAN_FRONTEND=noninteractive
+    sudo apt-get update
+    sudo apt-get upgrade -y
+    sudo apt-get install -y --no-install-recommends ubuntu-desktop
+    sudo apt-get install -y gnome-terminal unity-lens-applications
+
+    # Reset the ssh key (because vagrant regenerates it during provisioning)
+    sudo wget --no-check-certificate https://raw.github.com/mitchellh/vagrant/master/keys/vagrant.pub -O /home/vagrant/.ssh/authorized_keys
+    sudo chmod 0700 /home/vagrant/.ssh
+    sudo chmod 0600 /home/vagrant/.ssh/authorized_keys
+    sudo chown -R vagrant /home/vagrant/.ssh
+
+    # Copy docker config
+    sudo mv /home/vagrant/docker-default /etc/default/docker
+
+    # Enable autologin so docker can start GUI apps
+    sudo echo "autologin-user=vagrant" >> /usr/share/lightdm/lightdm.conf.d/50-unity-greeter.conf
+    sudo echo "autologin-user-timeout=0" >> /usr/share/lightdm/lightdm.conf.d/50-unity-greeter.conf
+
+    # X session RC
+    chmod +x /home/vagrant/.xsessionrc
+  SHELL
+
+  config.vm.provision "docker"
+
+  # Shutdown after provisioning. "vagrant halt" doesn't recognize the original ssh key anymore
+  # and would just kill the VM. This might lead to FS inconsistencies (e.g. in the docker DB).
+  config.vm.provision "shell", inline: "sudo shutdown -h now"
+end

Tools/ros/vagrant/docker-host-base/config/docker-default

@@ -0,0 +1,26 @@
+#
+# Default config for docker /etc/default/docker
+# Copied from a provisioned vagrant box
+#
+# Modifications:
+# - listen to TCP port
+# - removing deprecated "-r=true" option which apparently doesn't work anymore
+#   > use restart policies for specific containers if necessary
+#
+
+# Docker Upstart and SysVinit configuration file
+
+# Customize location of Docker binary (especially for development testing).
+#DOCKER="/usr/local/bin/docker"
+
+# Use DOCKER_OPTS to modify the daemon startup options.
+#DOCKER_OPTS="--dns 8.8.8.8 --dns 8.8.4.4"
+
+# If you need Docker to use an HTTP proxy, it can also be specified here.
+#export http_proxy="http://127.0.0.1:3128/"
+
+# This is also a handy place to tweak where Docker's temporary files go.
+#export TMPDIR="/mnt/bigdrive/docker-tmp"
+
+# Expose TCP port in addition to socket
+DOCKER_OPTS="${DOCKER_OPTS} -H unix:///var/run/docker.sock -H 0.0.0.0:2375"

Tools/ros/vagrant/docker-host-base/config/xsessionrc

@@ -0,0 +1,5 @@
+#!/bin/sh
+#
+# Disable X access control so we can easily start GUI apps
+#
+xhost +

Tools/ros/vagrant/docker-host/Vagrantfile

@@ -0,0 +1,36 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+#
+# Actual docker host VM to run.
+#
+# Maintainer: Andreas Antener <andreas@uaventure.com>
+#
+# To add local docker images into the docker host, configure your local
+# docker client to control the docker daemon on the running "docker-host" VM.
+# The box ("docker-host-base") configures docker to listen on any IP on port 2375.
+# You can then load an existing image, e.g.:
+# "docker load -i container-image.tar"
+#
+Vagrant.configure(2) do |config|
+  config.vm.box = "uaventure/docker-host-base"
+
+  config.vm.define "docker-host"
+
+  config.vm.provider "virtualbox" do |vb|
+    vb.name = "docker-host"
+    vb.gui = true
+    vb.memory = "4096"
+    vb.cpus = 2
+    vb.customize ["modifyvm", :id, "--graphicscontroller", "vboxvga"]
+    vb.customize ["modifyvm", :id, "--accelerate3d", "on"]
+    vb.customize ["modifyvm", :id, "--ioapic", "on"]
+    vb.customize ["modifyvm", :id, "--vram", "128"]
+    vb.customize ["modifyvm", :id, "--hwvirtex", "on"]
+  end
+
+  config.vm.network "private_network", ip: "192.168.59.104"
+
+  # TBD: would it be better to provision docker here instead of in the base box?
+  #config.vm.provision "docker"
+end

Tools/ros/vagrant/px4-ros/Vagrantfile

@@ -0,0 +1,60 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+#
+# Boot docker SITL environment
+#
+# Maintainer: Andreas Antener <andreas@uaventure.com>
+#
+# "vagrant up" will build the images. Should eventually start "xterm" from within the docker container.
+#
+# Notes:
+# (will change, need proper docs)
+#
+# Build with multiple dependent docker containers:
+# Use the "--no-parallel" option so the containers will be built/started in order.
+# e.g.: "vagrant up --no-parallel"
+#
+# Running apps directly:
+# "vagrant docker-run ros -- <cmd>"
+# Attention: will loose all data when stopped, vagrant runs docker always with "--rm"
+#
+# TODO
+# - do not run the docker container with "--rm" (vagrant default). is that even possible?
+# - maybe map a local working directory to compile stuff without loosing it in side the docker container
+#
+
+Vagrant.configure(2) do |config|
+  # Configure docker host
+  config.vm.provider "docker" do |d|
+    d.vagrant_machine = "docker-host"
+    d.vagrant_vagrantfile = "../docker-host/Vagrantfile"
+  end
+
+  # Configure docker apps to run
+  config.vm.define "ros" do |app|
+    app.vm.provider "docker" do |d|
+      d.name = "ros"
+      d.image = "uaventure/px4-ros-full"
+      #d.build_dir = "../../docker/px4-ros-full"
+      #d.build_args = ["-t=uaventure/px4-ros-full"]
+
+      # Share docker host x11 socket
+      # Run privileged to support 3d acceleration
+      d.volumes = [
+        "/tmp/.X11-unix:/tmp/.X11-unix:ro"
+      ]
+      d.create_args = ["--privileged"]
+
+      # TODO: get display number from host system
+      d.env = {
+        "DISPLAY" => ":0"
+      }
+
+      d.remains_running = true
+      d.cmd = ["xterm"]
+      #d.has_ssh = true
+    end
+  end
+
+end